The Psai angle is calculated based on the second-order moment of the height difference obtained from astronomical measurements, when using the Psai angle obtained from astronomical measurements as measurement information for celestial-inertial integrated navigation. Therefore, the statistical characteristics of the Psai measurement noisenolongerfollow aGaussiandistribution, whichhasnegativeeffectsintheperformanceofcelestial-inertialintegrated navigation.To addressthisissue, anadaptivefiltering-basedcelestial-inertialintegratednavigationtechnologyisproposed, usinganadaptiveweightedadjustmentmethodtoadjustthecovariancematrixofthemeasurementnoise, theimpactofnon-Gaussiancharacteristicsofnoise ontheerrorsuppressioneffectofintegratednavigationisreduced. Basedonexperimental data from celestial-inertial integrated navigation equipment, the error suppression effect of integrated navigation position undertwomethods, namelyGaussianapproximationandadaptivefilteringofPsaiangle measurementnoise, iscompared. The experiment indicates the adaptive filtering method for Psai angle measurement noise has a better position error suppressioneffectthantheGaussianapproximationmethod.Therefore, theapplication ofadaptivefiltering-basedcelestial-inertial integrated navigation technology has a more favorable effect on inertial error estimation and is beneficial to the engineeringapplicationandpromotionofcelestial-inertialintegratednavigationtechnology.